inline to low-side for BG431B ESC1 and pid removed antiwindup comment

Author: askuric

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -7,7 +7,7 @@
 // Motor instance
 BLDCMotor motor = BLDCMotor(11);
 BLDCDriver6PWM driver = BLDCDriver6PWM(PHASE_UH, PHASE_UL, PHASE_VH, PHASE_VL, PHASE_WH, PHASE_WL);
-InlineCurrentSense currentSense = InlineCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
+LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
 
 
 // encoder instance
@@ -43,6 +43,8 @@ void setup() {
 
   // current sensing
   currentSense.init();
+  // no need for aligning
+  currentSense.skip_align = true;
   motor.linkCurrentSense(&currentSense);
 
   // aligning voltage [V]
@@ -97,15 +99,8 @@ float target_angle = 0;
 
 void loop() {
   // main FOC algorithm function
-  // the faster you run this function the better
-  // Arduino UNO loop  ~1kHz
-  // Bluepill loop ~10kHz 
-  motor.loopFOC();
 
   // Motion control function
-  // velocity, position or voltage (defined in motor.controller)
-  // this function can be run at much lower frequency than loopFOC() function
-  // You can also use motor.move() and set the motor.target in the code
   motor.move(target_angle);
 
   // function intended to be used with serial plotter to monitor motor variables

src/common/pid.cpp

@@ -28,7 +28,6 @@ float PIDController::operator() (float error){
     float proportional = P * error;
     // Tustin transform of the integral part
     // u_ik = u_ik_1  + I*Ts/2*(ek + ek_1)
-    // method uses the antiwindup Foxboro method : https://core.ac.uk/download/pdf/289952713.pdf
     float integral = integral_prev + I*Ts*0.5f*(error + error_prev);
     // antiwindup - limit the output
     integral = _constrain(integral, -limit, limit);

src/current_sense/LowsideCurrentSense.cpp

@@ -75,11 +75,7 @@ int LowsideCurrentSense::driverSync(BLDCDriver *driver){
 // 3 - success but gains inverted
 // 4 - success but pins reconfigured and gains inverted
 int LowsideCurrentSense::driverAlign(BLDCDriver *driver, float voltage){
-    //gain_a *= -1;
-    //gain_b *= -1;
-    //gain_c *= -1;
-
-    /*
+    
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
@@ -90,9 +86,9 @@ int LowsideCurrentSense::driverAlign(BLDCDriver *driver, float voltage){
     // read the current 100 times ( arbitrary number )
     for (int i = 0; i < 100; i++) {
         PhaseCurrent_s c1 = getPhaseCurrents();
-        c.a = c.a*0.6 + 0.4f*c1.a;
-        c.b = c.b*0.6 + 0.4f*c1.b;
-        c.c = c.c*0.6 + 0.4f*c1.c;
+        c.a = c.a*0.6f + 0.4f*c1.a;
+        c.b = c.b*0.6f + 0.4f*c1.b;
+        c.c = c.c*0.6f + 0.4f*c1.c;
         _delay(3);
     }
     driver->setPwm(0, 0, 0);
@@ -165,7 +161,7 @@ int LowsideCurrentSense::driverAlign(BLDCDriver *driver, float voltage){
         // read the adc voltage 500 times ( arbitrary number )
         for (int i = 0; i < 50; i++) {
             PhaseCurrent_s c1 = getPhaseCurrents();
-            c.c = (c.c+c1.c)/50.0;
+            c.c = (c.c+c1.c)/50.0f;
         }
         driver->setPwm(0, 0, 0);
         gain_c *= _sign(c.c);
@@ -180,6 +176,4 @@ int LowsideCurrentSense::driverAlign(BLDCDriver *driver, float voltage){
     // 4 - success but pins reconfigured and gains inverted
 
     return exit_flag;
-    */
-    return 1;
 }

src/current_sense/hardware_api.h

@@ -43,7 +43,4 @@ float _readADCVoltageLowSide(const int pinA);
  */
 void _driverSyncLowSide();
 
-
-void _startADC3PinConversionLowSide();
-
 #endif

src/current_sense/hardware_specific/stm32g4_mcu.cpp

@@ -34,6 +34,10 @@ float _readADCVoltageInline(const int pin){
 
   return raw_adc * _ADC_CONV;
 }
+// do the same for low side sensing
+float _readADCVoltageLowSide(const int pin){
+  return _readADCVoltageInline(pin);
+}
 
 void _configureOPAMP(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *OPAMPx_Def){
   // could this be replaced with LL_OPAMP calls??
@@ -108,6 +112,10 @@ void _configureADCInline(const int pinA,const int pinB,const int pinC){
     Error_Handler();
   }
 }
+// do the same for low side
+void _configureADCLowSide(const int pinA,const int pinB,const int pinC){
+  _configureADCInline(pinA, pinB, pinC);
+}
 
 extern "C" {
 void DMA1_Channel1_IRQHandler(void) {